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How did you install it? Did you use installation from scratch?

I was having the same problem as you until I removed ros-kinetic-libg2o.

$sudo apt-get purge ros-kinetic-libg2o

After doing that, just recompile g2ofork and

$catkin_make --pkg rgbdslam

But make sure that rgbdslam package uses g2ofork! You can look at the install from scratch script that is provided as an installation option to make sure that you are doing everything right. If you have further questions, feel free to ask. :)